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<a href="AtiFTSensor_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#ifndef ATIFTSENSOR_H_</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#define ATIFTSENSOR_H_</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;netinet/in.h&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;arpa/inet.h&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;errno.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#ifdef XENOMAI</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;native/task.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;native/mutex.h&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;native/pipe.h&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span>          <span class="comment">// std::mutex</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;real_time_tools/thread.hpp&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;boost/thread.hpp&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;boost/shared_ptr.hpp&gt;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;boost/bind.hpp&gt;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceati__ft__sensor.html">ati_ft_sensor</a></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;{</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classati__ft__sensor_1_1AtiFTSensor.html">   30</a></span>&#160;<span class="keyword">class </span><a class="code" href="classati__ft__sensor_1_1AtiFTSensor.html">AtiFTSensor</a>{</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <a class="code" href="classati__ft__sensor_1_1AtiFTSensor.html">AtiFTSensor</a>();</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  ~<a class="code" href="classati__ft__sensor_1_1AtiFTSensor.html">AtiFTSensor</a>();</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordtype">bool</span> initialize();</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordtype">void</span> getStatus(uint32_t&amp; rdt_seq, uint32_t&amp; ft_seq, uint32_t&amp; status);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">void</span> getFT(<span class="keywordtype">double</span>* force, <span class="keywordtype">double</span>* torque);</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keywordtype">void</span> stream(<span class="keywordtype">bool</span> stream);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordtype">void</span> stop();</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keywordtype">void</span> setBias();</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordtype">void</span> setBias(<span class="keywordtype">double</span>* force, <span class="keywordtype">double</span>* torque);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keywordtype">void</span> resetBias();</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordtype">double</span> F_[3];</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">double</span> T_[3];</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  uint32_t rdt_sequence_;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  uint32_t ft_sequence_;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  uint32_t status_;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment">// Streaming support is only available on xenomai.</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#ifdef XENOMAI</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">struct </span>steaming_msg</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    uint32_t rdt_seq;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    uint32_t ft_seq;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    uint32_t status;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">double</span> time;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordtype">double</span> F[3];</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordtype">double</span> T[3];</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  };</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> count_per_force_ = 1000000.0;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> count_per_torque_ = 1000000.0;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">struct </span>received_msg</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    uint32_t rdt_sequence; <span class="comment">// RDT sequence number of this packet.</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    uint32_t ft_sequence;  <span class="comment">// The record’s internal sequence number</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    uint32_t status;       <span class="comment">// System status code</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// Force and torque readings use counts values</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    int32_t Fx;   <span class="comment">// X-axis force</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    int32_t Fy;   <span class="comment">// Y-axis force</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    int32_t Fz;   <span class="comment">// Z-axis force</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    int32_t Tx;   <span class="comment">// X-axis torque</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    int32_t Ty;   <span class="comment">// Y-axis torque</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    int32_t Tz;   <span class="comment">// Z-axis torque</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  };</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">struct </span>send_msg</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  {</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    uint16_t command_header; <span class="comment">// = 0x1234 // Required</span></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    uint16_t command;       <span class="comment">// Command to execute</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    uint32_t sample_count;  <span class="comment">// Samples to output (0 = infinite)</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  };</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">static</span> THREAD_FUNCTION_RETURN_TYPE read_ft(<span class="keywordtype">void</span>* instance_pointer)</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  {</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    ((<a class="code" href="classati__ft__sensor_1_1AtiFTSensor.html">AtiFTSensor</a>*)(instance_pointer))-&gt;read_ft();</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordflow">return</span> THREAD_FUNCTION_RETURN_VALUE;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  }</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordtype">void</span> read_ft();</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  sockaddr_in local_address_, remote_address_;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordtype">int</span> socket_;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  real_time_tools::RealTimeThread reading_thread_;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordtype">double</span> F_bias_[3], T_bias_[3];</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="preprocessor">#ifdef XENOMAI</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  RT_MUTEX mutex_;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  RT_PIPE stream_pipe_;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  std::mutex mutex_;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">bool</span> initialized_;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordtype">bool</span> going_;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">bool</span> streaming_;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;};</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;}</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* ATIFTSENSOR_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="namespaceati__ft__sensor_html"><div class="ttname"><a href="namespaceati__ft__sensor.html">ati_ft_sensor</a></div><div class="ttdef"><b>Definition:</b> AtiFTSensor.cpp:34</div></div>
<div class="ttc" id="classati__ft__sensor_1_1AtiFTSensor_html"><div class="ttname"><a href="classati__ft__sensor_1_1AtiFTSensor.html">ati_ft_sensor::AtiFTSensor</a></div><div class="ttdef"><b>Definition:</b> AtiFTSensor.h:30</div></div>
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